Dynamic Simulation of Human Gait Model With Predictive Capability

Abstract

In this paper, it is proposed that the central nervous system (CNS) controls human gait using a predictive control approach in conjunction with classical feedback control instead of exclusive classical feedback control theory that controls based on past error. To validate this proposition, a dynamic model of human gait is developed using a novel predictive approach to investigate the principles of the CNS. The model developed includes two parts: a plant model that represents the dynamics of human gait and a controller that represents the CNS. The plant model is a seven-segment, six-joint model that has nine degrees-of-freedom (DOF). The plant model is validated using data collected from able-bodied human subjects. The proposed controller utilizes model predictive control (MPC). MPC uses an internal model to predict the output in advance, compare the predicted output to the reference, and optimize the control input so that the predicted error is minimal. To decrease the complexity of the model, two joints are controlled using a proportional-derivative (PD) controller. The developed predictive human gait model is validated by simulating able-bodied human gait. The simulation results show that the developed model is able to simulate the kinematic output close to experimental data.

A Model of Predictive Postural Control Against Floor Tilting in Rats

“…MPC predicts the future state using an internal model of the control target and determines the control inputs so that the predicted state becomes optimal. MPC has been used for the gait and postural control of humanoid robots ( Alcaraz-Jiménez et al, 2013 ; Scianca et al, 2020 ) and has been used as a model for human quiet standing ( Yao and Levine, 2009 ), walking ( Sun et al, 2018 ), and arm movement during standing ( Shen et al, 2021 ). Prediction time, which is the extent to which future behavior is predicted for control, is a major parameter for determining the behavior by MPC.…”

Model Predictive Control for Modeling Human Gait Motions Assisted by Vicon Technology

“…For simulating the human dynamics in MATLAB, Simulink, some mechanical mechanisms in the paper [14] are used for building the human plant. Latest human gait engineering studies are referred to in the papers [15][16][17][18]. Other control strategies beside NMPC [19], also can be considered, such as Adaptive Control Strategy, fuzzy based control [20], tracking control based on NMPC or neural network, but based on the simplicity of the MPC, it's the most convenient method for the human gait motion investigation.…”